Danaher Motion 07/06 Table of Contents
M-S2-021-11 Initial Release i
Table of Contents
1.
INTRODUCTION ..................................................................................................................................................................... 1
1. 1
S
YSTEM
R
EQUIREMENTS
.................................................................................................................................................. 1
1. 2
B
ASIC
F
EATURES
............................................................................................................................................................. 1
1. 3
BUSOFF C
OMMUNICATION
F
AULTS
............................................................................................................................... 2
2.
OVERVIEW .............................................................................................................................................................................. 3
2. 1
C
OMMUNICATION
P
ROFILE
............................................................................................................................................. 3
2. 2
C
OMMUNICATION
O
BJECT
I
DENTIFIER
............................................................................................................................. 4
2. 3
D
ATA
T
YPE
D
EFINITION
.................................................................................................................................................. 4
2.3.1.
Basic Data Types .............................................................................................................................5
2.3.2.
Mixed Data Types............................................................................................................................5
2.3.3.
Extended Data Types .......................................................................................................................6
2. 4
C
OMMUNICATION
O
BJECTS
............................................................................................................................................. 6
2.4.1.
Network Management Objects (NMT) ............................................................................................6
2.4.2.
Synchronization Object (SYNC)......................................................................................................7
2.4.3.
Time-Stamp Object (TIME).............................................................................................................7
2.4.4.
Emergency Object (EMCY).............................................................................................................7
2.4.5.
Service Data Objects (SDO) ..........................................................................................................10
2.4.6.
Process Data Object (PDO)............................................................................................................13
2.4.7.
Nodeguard......................................................................................................................................17
2.4.8.
Heartbeat........................................................................................................................................18
2. 5
D
EVICE
C
ONTROL
(
DC
) ................................................................................................................................................. 19
2.5.1.
Status Machine (DS402)................................................................................................................19
2.5.2.
States of the Status Machine..........................................................................................................19
2.5.3.
Transitions of the status machine...................................................................................................20
3.
OPERATION MODES ........................................................................................................................................................... 21
3. 1
P
ROFILE
V
ELOCITY
M
ODE
(
PV
) (DS402)....................................................................................................................... 21
3. 2
P
ROFILE
T
ORQUE
M
ODE
(
TQ
) (DS402)......................................................................................................................... 21
3. 3
P
OSITION
C
ONTROL
F
UNCTION
(
PC
) (DS402) ............................................................................................................... 22
4.
CONFIGURATION PARAMETERS ................................................................................................................................... 23
5.
OBJECT DICTIONARY ........................................................................................................................................................ 29
6.
OBJECTS................................................................................................................................................................................. 35
6. 1
SDO 1A00-1A03
H
: 1
ST
- 4
TH
TXPDO M
APPING
P
ARAMETER
(DS301) ........................................................................ 35
6. 2
SDO 100A
H
: M
ANUFACTURER
S
OFTWARE
V
ERSION
(DS301)........................................................................................ 37
6. 3
SDO 100C
H
: G
UARD
T
IME
(DS301) ............................................................................................................................ 37
6. 4
SDO 100D
H
: L
IFETIME
F
ACTOR
(DS301) .................................................................................................................... 37
6. 5
SDO 1000
H
: D
EVICE
T
YPE
(DS301)............................................................................................................................. 38
6. 6
SDO 1001
H
: E
RROR
R
EGISTER
(DS301)....................................................................................................................... 38
6. 7
SDO 1002
H
: M
ANUFACTURER
S
TATUS
R
EGISTER
(DS301)............................................................................................ 39
6. 8
SDO 1003
H
: P
REDEFINED
E
RROR
F
IELD
(DS301)........................................................................................................ 40
6. 9
SDO 1005
H
: COB-ID
OF THE
SYNC M
ESSAGE
(DS301).............................................................................................. 42
6. 10
SDO 1006
H
: C
OMMUNICATION
C
YCLE
P
ERIOD
(DS301) .............................................................................................. 42
6. 11
SDO 1008
H
: M
ANUFACTURER
D
EVICE
N
AME
(DS301)................................................................................................. 43
6. 12
SDO 1009
H
: M
ANUFACTURER
H
ARDWARE
V
ERSION
..................................................................................................... 43
6. 13
SDO 1010
H
: S
TORE
P
ARAMETERS
(DS301) .................................................................................................................. 44
6. 14
SDO 1011
H
: R
ESTORE DEFAULT PARAMETERS
.............................................................................................................. 45
6. 15
SDO 1014
H
: COB-ID
FOR
E
MERGENCY
M
ESSAGE
(DS301) ......................................................................................... 45
6. 16
SDO 1016
H
: C
ONSUMER
H
EARTBEAT
T
IME
.................................................................................................................. 46
6. 17
SDO 1017
H
: P
RODUCER
H
EARTBEAT
T
IME
................................................................................................................... 46
6. 18
SDO 1018
H
: I
DENTITY
O
BJECT
(DS301) ...................................................................................................................... 47
6. 19
SDO 1026
H
: OS P
ROMPT
............................................................................................................................................ 48
6. 20
SDO 1400-1403
H
: 1
ST
- 4
TH
RXPDO C
OMMUNICATION
P
ARAMETER
(DS301) ............................................................ 49
